Gait generation device for legged mobile robot

Details Gait generation device for legged mobile robot Gait generation device for legged mobile robot

2002-12-26

2009-02-03

Black, Thomas G (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S254000, C318S568120

Reexamination Certificate

active

07487011

ABSTRACT:
An allowable ranges of a horizontal component of the translation floor reaction or a floor-surface-parallel component of the translation floor reaction force of a legged mobile robot1or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot1(hereinafter referred to as a friction force component) is set, and a provisional movement of the robot1is determined so as to satisfy a predetermined dynamical equilibrium condition. When the friction force component determined by this provisional movement departs from the allowable range, a rate of change of an angular momentum around the center of gravity of the robot1is changed from the provisional movement so as to satisfy the dynamical equilibrium condition while limiting the friction force component within the allowable range to thereby determine a movement of a desired gait. Consequently, not only walking of the robot1but also running thereof can be performed properly, and a gait that does not cause slippage is generated.

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